CGridPlaneXZ.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
 
#include "opengl-precomp.h"  // Precompiled header
 
#include <mrpt/opengl/CGridPlaneXZ.h>
#include <mrpt/utils/CStream.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE( CGridPlaneXZ, CRenderizableDisplayList, mrpt::opengl )
 
CGridPlaneXZPtr CGridPlaneXZ::Create(
        float xMin,
        float xMax,
        float zMin,
        float zMax,
        float y,
        float frequency,
        float lineWidth,
        bool  antiAliasing
        )
{
        return CGridPlaneXZPtr( new CGridPlaneXZ( xMin,xMax, zMin, zMax, y, frequency,lineWidth,antiAliasing ) );
}
 
/** Constructor */
CGridPlaneXZ::CGridPlaneXZ(
        float xMin,
        float xMax,
        float zMin,
        float zMax,
        float y,
        float frequency,
        float lineWidth,
        bool  antiAliasing
        ) :
        m_xMin(xMin),m_xMax(xMax),
        m_zMin(zMin),m_zMax(zMax),
        m_plane_y(y),
        m_frequency(frequency),
        m_lineWidth(lineWidth),
        m_antiAliasing(antiAliasing)
{
}
 
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void   CGridPlaneXZ::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        ASSERT_(m_frequency>=0)
 
        // Enable antialiasing:
        if (m_antiAliasing)
        {
                glPushAttrib( GL_COLOR_BUFFER_BIT | GL_LINE_BIT );
                glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
                glEnable(GL_BLEND);
                glEnable(GL_LINE_SMOOTH);
        }
        glLineWidth(m_lineWidth);
 
        glDisable(GL_LIGHTING);  // Disable lights when drawing lines
    glBegin(GL_LINES);
 
        ASSERT_(m_frequency>=0);
 
        for (float z=m_zMin;z<=m_zMax;z+=m_frequency)
        {
                glVertex3f( m_xMin,m_plane_y,z );
            glVertex3f( m_xMax,m_plane_y,z );
        }
 
        for (float x=m_xMin;x<=m_xMax;x+=m_frequency)
        {
                glVertex3f( x,m_plane_y,m_zMin );
            glVertex3f( x,m_plane_y,m_zMax );
        }
 
    glEnd();
        glEnable(GL_LIGHTING);
 
        // End antialiasing:
        if (m_antiAliasing)
        {
                glPopAttrib();
                checkOpenGLError();
        }
#endif
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CGridPlaneXZ::writeToStream(mrpt::utils::CStream &out,int *version) const
{
 
        if (version)
                *version = 1;
        else
        {
                writeToStreamRender(out);
                out << m_xMin << m_xMax;
                out << m_zMin << m_zMax << m_plane_y;
                out << m_frequency;
                out << m_lineWidth << m_antiAliasing; // v1
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CGridPlaneXZ::readFromStream(mrpt::utils::CStream &in,int version)
{
 
        switch(version)
        {
        case 0:
        case 1:
                {
                        readFromStreamRender(in);
                        in >> m_xMin >> m_xMax;
                        in >> m_zMin >> m_zMax >> m_plane_y;
                        in >> m_frequency;
                        if (version>=1)
                                in >> m_lineWidth >> m_antiAliasing;
                        else
                        {
                                m_lineWidth=1.0f;
                                m_antiAliasing=true;
                        }
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
 
        };
        CRenderizableDisplayList::notifyChange();
}
 
void CGridPlaneXZ::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min.x = m_xMin;
        bb_min.y = 0;
        bb_min.z = m_zMin;
 
        bb_max.x = m_xMax;
        bb_max.y = 0;
        bb_max.z = m_zMax;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}